Development of musculoskeletal humanoid kenzoh with mechanical compliance changeable tendons by nonlinear spring unit

Development of musculoskeletal humanoid kenzoh with mechanical compliance changeable tendons by nonlinear spring unit
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DOI：
10.1109/robio.2011.6181655
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发表时间：
2011-12
期刊：
2011 IEEE International Conference on Robotics and Biomimetics
影响因子：
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通讯作者：
Y. Nakanishi;Tamon Izawa;M. Osada;Nobuyuki Ito;S. Ohta;Junichi Urata;M. Inaba
Y. Nakanishi;Tamon Izawa;M. Osada;Nobuyuki Ito;S. Ohta;Junichi Urata;M. Inaba
中科院分区：
其他
文献类型：
--
作者：
Y. Nakanishi;Tamon Izawa;M. Osada;Nobuyuki Ito;S. Ohta;Junichi Urata;M. Inaba

文献摘要

相似文献

我们开发并研究了肌肉骨骼类人机器人。我们的目标是实现更多像人类一样的类人动物，它们可以像人类一样进行自然和动态的运动。特别是，关节自由度冗余、机械关节柔顺性和强大的关节发电能力对于类似人类的动态运动和任务非常重要，例如跑、跳、着陆、投/踢/接球等。本文介绍了该项目的概念和目标，并概述了我们开发新型肌肉骨骼人形机器人 Kenzoh 的最新成果，该机器人是我们之前 Kojiro 的后续版本。
We have developed and studied musculoskeletal humanoids. Our goal is to achieve more human-like humanoids which can do natural and dynamic motions as well as humans. Especially, joint DOFs redundancy, mechanical joint compliance and great joint generating power are very important for humanlike dynamic motions and tasks, such as running, jumping, landing, throwing/kicking/catching a ball, and so on. This paper presents the concepts and aim of this project and also shows the outline of our latest results about development of new musculoskeletal humanoid Kenzoh, which is the succeeding version of our previous Kojiro.